Proctor, R. W., authorBalakrishnan, V., authorMaciejewski, Anthony A., authorGoel, M., authorIEEE, publisher2007-01-032007-01-032003Goel, M., et al., Failure Tolerant Teleoperation of a Kinematically Redundant Manipulator: An Experimental Study, IEEE Transactions on Systems, Man, and Cybernetics. Part A, Systems and Humans 33, no. 6 (November 2003): 758-765.http://hdl.handle.net/10217/67366Teleoperated robots in harsh environments have a significant likelihood of failures. It has been shown in previous work that a common type of failure such as that of a joint "locking up," when unidentified by the robot controller, can cause considerable performance degradation in the local behavior of the manipulator even for simple point-to-point motion tasks. The effects of a failure become more critical for a system with a human in the loop, where unpredictable behavior of the robotic arm can completely disorient the operator. In this experimental study involving teleoperation of a graphically simulated kinematically redundant manipulator, two control schemes, the pseudoinverse and a proposed failure-tolerant inverse, were randomly presented under both nonfailure and failure scenarios to a group of operators. Based on performance measures derived from the recorded trajectory data and operator ratings of task difficulty, it is seen that the failure-tolerant inverse kinematic control scheme improved the performance of the human/robot system.born digitalarticleseng©2003 IEEE.Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.manipulatorsteleoperationfault/failure tolerancekinematically redundantredundant robots/manipulatorskinematicslocked joint failureText